I finally got down and dirty with the electrics. The original plan was the use the L298N Dual Motor Controller to control the motors for the rudders and dive planes, and a mosfet, diode, and resistors for the propeller motor. However, while each component worked well separately, the prop motor could not be grounded with the motor controller, when I tried it kept turning on and frying the Arduino and broke the motor itself. So, the new plan is to just use the motor driver and the dive planes will be stationary. The sub will be neutrally buoyant, and the dive planes will help the roll, so the sub should not go up and down. So only the prop and rudder fins will be hooked up to motors and move.  I have a code almost ready to test, it still needs a way to kill the tun after catching the sub. I also have a demo code ready to try that will turn the fins a few times while spinning the prop. The demo code is meant for tabling events and demonstration outside of the water. Next, I want to solder the components to the proto board and try the demo code to see if the fins respond correctly when the motor spins.